Coordinated compliance control of dual-arm robot astronaut for payload operation

International Journal of Advanced Robotic Systems

article

Bingshan Hu¹  Lei Yan²  Liangliang Han³  Hongliu Yu¹ 

[1] Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology;School of Mechatronic Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School;Shanghai Institute of Aerospace Systems Engineering

关键词: Dual arm;    robot;    coordinated compliance control;   

DOI  :  10.1177/17298814211012850

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

Dual-arm robot astronaut has more general and dexterous operation ability than single-arm robot, and it can interact with astronaut more friendly. The robot will inevitably use both arms to grasp payloads and transfer them. The force control of the arms in closed chains is an important problem. In this article, the coordinated kinematic and dynamic equations of the dual-arm astronaut are established by considering the closed-chain constraint relationship. Two compliance control methods for dual-arm astronaut coordinated payload manipulating are proposed. The first method is called master–slave force control and the second is the shared force control. For the former, the desired path and operational force of the master arm should be given in advance and that of slave arm are calculated from the dual-arm robot closed-chain constraint equation. In the share control mode, the desired path and end operational force of dual arms are decomposed from the dual-arm robot closed-chain constraint equation directly and equally. Finally, the two control algorithms are verified by simulation. The results of analysis of variance of the simulation data show that the two control methods have no obvious difference in the accuracy of force control but the second control method has a higher position control accuracy, and this proves that the master–slave mode is better for tasks with explicit force distribution requirements and the shared force control is especially suitable for a high-precision requirement.

【 授权许可】

CC BY